Positioneering Workbook - Koike

Manipulators
HOW TO SELECT THE CORRECT SIZE OF MANIPULATOR
TO BEST MEET YOUR NEEDS
To select the correct size of Manipulator, not only the Reach and
Lift Ranges must be determined, but also the required load capacity.
The Reach Range is selected according to the desired extreme locations
of the Arc horizontally. The Lift Range is selected according to the
extreme locations of the Arc vertically. A typical welding set-up is
shown in the sketch. The distance to the top of the vessel above the
floor can be determined by first finding “side b” of the triangle a-b-c,
with known values for “a” and “c” using the formula b = √a² ­ c². Then
add the value of “b” to the Axle Height above floor, plus the “R” Radius
of the vessel. Next add the distance from the Arc to the Centerline of
the Boom. This will give you the maximum required for the Lift Range.
Follow the same procedure to find Arc height needed for the smallest
vessels.
The load capacity considered must include all welding equipment,
operator, catwalks, chairs and any other options added to the base
machine frame.
To Determine the Right Length of Track
When a Car is used to travel the Arc longitudinally the length of the
vessel, the required Track can be determined by adding the length of
the Car’s frame to the amount of Arc travel desired. afford the correct
total Track length.
Load in pounds on either / or both ends of Boom
SIZE
CRICKET LOCUST-I LOCUST-II SCARAB-I SCARAB-II SCARAB-III 44 66 99 1212 SHD XHD XXHD
4X4 150 150
6X6 400 600 1700 250
7X7 350 500 1500 250
8X8 300 500 1500 250 500
9X9 400 1300 250 500
10X10 400 1300 250 500
12X12 300 1100 2200 500 750
14X14 900 1900 750 1000
16X16 1600 750 1000
18X18 1300 750 1000
20X20 1000 3000 1000 1500 2000
22X22 2600 1500 2000
24X24 2200 1500 2000
26X26 1800 1500 2000
28X28 1400 1500
30X30 1000 1000
28
Track sections are available in 10’, 12’, 14’ and 16’
lengths, a combination of which will afford the correct
total Track length.